ps_flc3_controla0513_acc.c

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/*
 * This file is not available for use in any application other than as a
 * MATLAB(R) MEX file for use with the Simulink(R) Accelerator product.
 */

/*
 * PS_flc3_controlA0513_acc.c
 * 
 * Real-Time Workshop code generation for Simulink model "PS_flc3_controlA0513_acc.mdl".
 *
 * Model Version              : 1.99
 * Real-Time Workshop version : 6.1  (R14SP1)  05-Sep-2004
 * C source code generated on : Fri May 13 21:53:39 2005
 */

#include <math.h>
#include <string.h>
#include "PS_flc3_controlA0513_acc.h"
#include "PS_flc3_controlA0513_acc_private.h"
#include <stdio.h>
#include "simstruc.h"
#include "fixedpoint.h"

#define CodeFormat                      S-Function
#define AccDefine1                      Accelerator_S-Function

/* Outputs for root system: '<Root>' */
static void mdlOutputs(SimStruct *S, int_T tid)
{
  /* simstruct variables */
  PS_flc3_controlA0513_BlockIO *PS_flc3_controlA0513_B =
    (PS_flc3_controlA0513_BlockIO *) _ssGetBlockIO(S);
  PS_flc3_controlA0513_ContinuousStates *PS_flc3_controlA0513_X =
    (PS_flc3_controlA0513_ContinuousStates*) ssGetContStates(S);
  PS_flc3_controlA0513_D_Work *PS_flc3_controlA0513_DWork =
    (PS_flc3_controlA0513_D_Work *) ssGetRootDWork(S);
  PS_flc3_controlA0513_Parameters *PS_flc3_controlA0513_P =
    (PS_flc3_controlA0513_Parameters *) ssGetDefaultParam(S);

  /* local block i/o variables */

  real_T rtb_PulseGenerator;
  real_T rtb_Sum2;
  real_T rtb_Derivative1;
  real_T rtb_Product[2];
  real_T rtb_Sum_fk;
  real_T rtb_Product_d[2];
  real_T rtb_Sum_i;
  real_T rtb_Product_a[2];
  real_T rtb_Sum_c;
  real_T rtb_Product_m[2];
  real_T rtb_Sum_i5;
  real_T rtb_Product_k[2];
  real_T rtb_Sum_hj;
  real_T rtb_netsum[5];
  real_T rtb_Product_b[5];
  real_T rtb_Sum_e;
  real_T rtb_Derivative1_e;
  real_T rtb_Product_be[2];
  real_T rtb_Sum_ci;
  real_T rtb_Product_a5[2];
  real_T rtb_Sum_g;
  real_T rtb_Product_e[2];
  real_T rtb_Sum_b;
  real_T rtb_Product_f[2];
  real_T rtb_Sum_m;
  real_T rtb_Product_g[2];
  real_T rtb_Sum_bv;
  real_T rtb_netsum_j[5];
  real_T rtb_Product_bi[5];
  real_T rtb_Sum_o;
  real_T rtb_Derivative1_g;
  real_T rtb_Product_dq[2];
  real_T rtb_Sum_gt;
  real_T rtb_Product_n[2];
  real_T rtb_Sum_p;
  real_T rtb_Product_dn[2];
  real_T rtb_Sum_fc;
  real_T rtb_Product_p[2];
  real_T rtb_Sum_ba;
  real_T rtb_Product_h[2];
  real_T rtb_Sum_g3;
  real_T rtb_netsum_n[5];
  real_T rtb_Product_c[5];
  real_T rtb_Sum_dq;
  real_T rtb_Derivative1_m;
  real_T rtb_Product_b1[2];
  real_T rtb_Sum_er;
  real_T rtb_Product_mz[2];
  real_T rtb_Sum_n;
  real_T rtb_Product_ki[2];
  real_T rtb_Sum_mz;
  real_T rtb_Product_l[2];
  real_T rtb_Sum_on;
  real_T rtb_Product_gu[2];
  real_T rtb_Sum_hd;
  real_T rtb_netsum_e[5];
  real_T rtb_Product_ar[5];
  real_T rtb_Sum_ng;
  real_T rtb_Derivative1_f;
  real_T rtb_Product_dt[2];
  real_T rtb_Sum_hw;
  real_T rtb_Product_bt[2];
  real_T rtb_Sum_js;
  real_T rtb_Product_pc[2];
  real_T rtb_Sum_gi;
  real_T rtb_Product_ll[2];
  real_T rtb_Sum_l;
  real_T rtb_Product_e1[2];
  real_T rtb_Sum_hg;
  real_T rtb_netsum_h[5];
  real_T rtb_Product_cz[5];
  real_T rtb_Sum_a;
  real_T rtb_Derivative;
  real_T rtb_Integral;
  real_T rtb_Derivative_p;
  real_T rtb_Integral_e;
  real_T rtb_Derivative_h;
  real_T rtb_Integral_c;
  real_T rtb_Derivative_o;
  real_T rtb_Integral_b;
  real_T rtb_Derivative_n;
  real_T rtb_Integral_f;

  /* Clock: '<Root>/Clock' */
  PS_flc3_controlA0513_B->Clock = ssGetT(S);

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.001s, 0.0s] */

    /* ToWorkspace: '<Root>/To Workspace4' */
    /* Call into Simulink for To Workspace */
    ssCallAccelRunBlock(S, 0, 1, SS_CALL_MDL_OUTPUTS);

    /* DiscretePulseGenerator: '<Root>/Pulse Generator' */
    rtb_PulseGenerator =
      (PS_flc3_controlA0513_DWork->clockTickCounter <
      PS_flc3_controlA0513_P->PulseGenerator_Duty &&
      PS_flc3_controlA0513_DWork->clockTickCounter >= 0) ?
     PS_flc3_controlA0513_P->PulseGenerator_Amp :
      0.0;
    if (PS_flc3_controlA0513_DWork->clockTickCounter >=
     PS_flc3_controlA0513_P->PulseGenerator_Period-1) {
      PS_flc3_controlA0513_DWork->clockTickCounter = 0;
    } else {
      (PS_flc3_controlA0513_DWork->clockTickCounter)++;
    }

    PS_flc3_controlA0513_B->Constant = PS_flc3_controlA0513_P->Constant_Value;

    rtb_Sum2 = rtb_PulseGenerator - PS_flc3_controlA0513_B->Constant;

    PS_flc3_controlA0513_B->Gain = rtb_Sum2 * PS_flc3_controlA0513_P->Gain_Gain;
  }

  /* TransferFcn Block: <Root>/Transfer Fcn2 */
  PS_flc3_controlA0513_B->TransferFcn2 =
    PS_flc3_controlA0513_P->TransferFcn2_C*PS_flc3_controlA0513_X->TransferFcn2_CSTATE[2];

  /* TransferFcn Block: <Root>/Transfer Fcn3 */
  PS_flc3_controlA0513_B->TransferFcn3 =
    PS_flc3_controlA0513_P->TransferFcn3_C*PS_flc3_controlA0513_X->TransferFcn3_CSTATE[2];

  /* TransferFcn Block: <Root>/Transfer Fcn5 */
  PS_flc3_controlA0513_B->TransferFcn5 =
    PS_flc3_controlA0513_P->TransferFcn5_C*PS_flc3_controlA0513_X->TransferFcn5_CSTATE[2];

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.001s, 0.0s] */

    /* Scope: '<Root>/Scope' */
    /* Call into Simulink for Scope */
    ssCallAccelRunBlock(S, 0, 9, SS_CALL_MDL_OUTPUTS);

    PS_flc3_controlA0513_B->Gain1 = rtb_Sum2 *
      PS_flc3_controlA0513_P->Gain1_Gain;
  }

  /* TransferFcn Block: <Root>/Transfer Fcn1 */
  PS_flc3_controlA0513_B->TransferFcn1 =
    PS_flc3_controlA0513_P->TransferFcn1_C*PS_flc3_controlA0513_X->TransferFcn1_CSTATE[2];

  /* TransferFcn Block: <Root>/Transfer Fcn4 */
  PS_flc3_controlA0513_B->TransferFcn4 =
    PS_flc3_controlA0513_P->TransferFcn4_C*PS_flc3_controlA0513_X->TransferFcn4_CSTATE[2];

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.001s, 0.0s] */

    /* Scope: '<Root>/Scope1' */
    /* Call into Simulink for Scope */
    ssCallAccelRunBlock(S, 0, 13, SS_CALL_MDL_OUTPUTS);

    PS_flc3_controlA0513_B->Gain2 = rtb_Sum2 *
      PS_flc3_controlA0513_P->Gain2_Gain;

    PS_flc3_controlA0513_B->Gain3 = rtb_Sum2 *
      PS_flc3_controlA0513_P->Gain3_Gain;

    PS_flc3_controlA0513_B->Gain4 = rtb_Sum2 *
      PS_flc3_controlA0513_P->Gain4_Gain;
  }

  PS_flc3_controlA0513_B->Sum = PS_flc3_controlA0513_B->Gain -
    PS_flc3_controlA0513_B->TransferFcn2;

  /* Derivative Block: <S1>/Derivative1 */
  {
    real_T t = ssGetTaskTime(S,tid);
    real_T timeStampA = PS_flc3_controlA0513_DWork->Derivative1_RWORK.TimeStampA;
    real_T timeStampB = PS_flc3_controlA0513_DWork->Derivative1_RWORK.TimeStampB;

    if (timeStampA >= t && timeStampB >= t) {
      rtb_Derivative1 = 0.0;
    } else {
      real_T deltaT;
      real_T *lastBank =
        &PS_flc3_controlA0513_DWork->Derivative1_RWORK.TimeStampA;
      if (timeStampA < timeStampB) {
        if (timeStampB < t) {
          lastBank += 2;
        }
      } else if (timeStampA >= t) {
        lastBank += 2;
      }
      deltaT = t - *lastBank++;
      rtb_Derivative1 = (PS_flc3_controlA0513_B->Sum - *lastBank++) / deltaT;
    }
  }

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.001s, 0.0s] */

    PS_flc3_controlA0513_B->IW111[0] = PS_flc3_controlA0513_P->IW111_Value[0];
    PS_flc3_controlA0513_B->IW111[1] = PS_flc3_controlA0513_P->IW111_Value[1];

    PS_flc3_controlA0513_B->IW112[0] = PS_flc3_controlA0513_P->IW112_Value[0];
    PS_flc3_controlA0513_B->IW112[1] = PS_flc3_controlA0513_P->IW112_Value[1];

    PS_flc3_controlA0513_B->IW113[0] = PS_flc3_controlA0513_P->IW113_Value[0];
    PS_flc3_controlA0513_B->IW113[1] = PS_flc3_controlA0513_P->IW113_Value[1];

    PS_flc3_controlA0513_B->IW114[0] = PS_flc3_controlA0513_P->IW114_Value[0];
    PS_flc3_controlA0513_B->IW114[1] = PS_flc3_controlA0513_P->IW114_Value[1];

    PS_flc3_controlA0513_B->IW115[0] = PS_flc3_controlA0513_P->IW115_Value[0];
    PS_flc3_controlA0513_B->IW115[1] = PS_flc3_controlA0513_P->IW115_Value[1];
  }

  PS_flc3_controlA0513_B->SE1 = PS_flc3_controlA0513_B->Sum *
    PS_flc3_controlA0513_P->SE1_Gain;

  PS_flc3_controlA0513_B->SDE001 = rtb_Derivative1 *
    PS_flc3_controlA0513_P->SDE001_Gain;

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.001s, 0.0s] */

    rtb_Product[0] = PS_flc3_controlA0513_B->IW111[0] *
      PS_flc3_controlA0513_B->SE1;
    rtb_Product[1] = PS_flc3_controlA0513_B->IW111[1] *
      PS_flc3_controlA0513_B->SDE001;

    /* Sum: '<S22>/Sum' */
    rtb_Sum_fk = rtb_Product[0];
    rtb_Sum_fk += rtb_Product[1];

    rtb_Product_d[0] = PS_flc3_controlA0513_B->IW112[0] *
      PS_flc3_controlA0513_B->SE1;
    rtb_Product_d[1] = PS_flc3_controlA0513_B->IW112[1] *
      PS_flc3_controlA0513_B->SDE001;

    /* Sum: '<S23>/Sum' */
    rtb_Sum_i = rtb_Product_d[0];
    rtb_Sum_i += rtb_Product_d[1];

    rtb_Product_a[0] = PS_flc3_controlA0513_B->IW113[0] *
      PS_flc3_controlA0513_B->SE1;
    rtb_Product_a[1] = PS_flc3_controlA0513_B->IW113[1] *
      PS_flc3_controlA0513_B->SDE001;

    /* Sum: '<S24>/Sum' */
    rtb_Sum_c = rtb_Product_a[0];
    rtb_Sum_c += rtb_Product_a[1];

    rtb_Product_m[0] = PS_flc3_controlA0513_B->IW114[0] *
      PS_flc3_controlA0513_B->SE1;
    rtb_Product_m[1] = PS_flc3_controlA0513_B->IW114[1] *
      PS_flc3_controlA0513_B->SDE001;

    /* Sum: '<S25>/Sum' */
    rtb_Sum_i5 = rtb_Product_m[0];
    rtb_Sum_i5 += rtb_Product_m[1];

    rtb_Product_k[0] = PS_flc3_controlA0513_B->IW115[0] *
      PS_flc3_controlA0513_B->SE1;
    rtb_Product_k[1] = PS_flc3_controlA0513_B->IW115[1] *
      PS_flc3_controlA0513_B->SDE001;

    /* Sum: '<S26>/Sum' */
    rtb_Sum_hj = rtb_Product_k[0];
    rtb_Sum_hj += rtb_Product_k[1];

    {
      real_T cg_in_0_37_0[5];
      int32_T i1;

      for(i1=0; i1<5; i1++) {
        PS_flc3_controlA0513_B->b1[i1] = PS_flc3_controlA0513_P->b1_Value[i1];
      }

      cg_in_0_37_0[0] = rtb_Sum_fk;
      cg_in_0_37_0[1] = rtb_Sum_i;
      cg_in_0_37_0[2] = rtb_Sum_c;
      cg_in_0_37_0[3] = rtb_Sum_i5;
      cg_in_0_37_0[4] = rtb_Sum_hj;
      for(i1=0; i1<5; i1++) {
        rtb_netsum[i1] = cg_in_0_37_0[i1] + PS_flc3_controlA0513_B->b1[i1];

        PS_flc3_controlA0513_B->IW211[i1] =
          PS_flc3_controlA0513_P->IW211_Value[i1];

        rtb_Product_b[i1] = PS_flc3_controlA0513_B->IW211[i1] *
          rt_SATURATE(rtb_netsum[i1],
         PS_flc3_controlA0513_P->Saturation_LowerSat,
         PS_flc3_controlA0513_P->Saturation_UpperSat);
      }
    }

    /* Sum: '<S31>/Sum' */
    rtb_Sum_e = rtb_Product_b[0];
    rtb_Sum_e += rtb_Product_b[1];
    rtb_Sum_e += rtb_Product_b[2];
    rtb_Sum_e += rtb_Product_b[3];
    rtb_Sum_e += rtb_Product_b[4];

    PS_flc3_controlA0513_B->b2 = PS_flc3_controlA0513_P->b2_Value;

    PS_flc3_controlA0513_B->SU1 = (rtb_Sum_e + PS_flc3_controlA0513_B->b2) *
      PS_flc3_controlA0513_P->SU1_Gain;
  }

  PS_flc3_controlA0513_B->Sum3 = PS_flc3_controlA0513_B->Gain1 -
    PS_flc3_controlA0513_B->TransferFcn1;

  /* Derivative Block: <S2>/Derivative1 */
  {
    real_T t = ssGetTaskTime(S,tid);
    real_T timeStampA =
      PS_flc3_controlA0513_DWork->Derivative1_RWORK_b.TimeStampA;
    real_T timeStampB =
      PS_flc3_controlA0513_DWork->Derivative1_RWORK_b.TimeStampB;

    if (timeStampA >= t && timeStampB >= t) {
      rtb_Derivative1_e = 0.0;
    } else {
      real_T deltaT;
      real_T *lastBank =
        &PS_flc3_controlA0513_DWork->Derivative1_RWORK_b.TimeStampA;
      if (timeStampA < timeStampB) {
        if (timeStampB < t) {
          lastBank += 2;
        }
      } else if (timeStampA >= t) {
        lastBank += 2;
      }
      deltaT = t - *lastBank++;
      rtb_Derivative1_e = (PS_flc3_controlA0513_B->Sum3 - *lastBank++) / deltaT;
    }
  }

  if (ssIsSampleHit(S, 1, tid)) {       /* Sample time: [0.001s, 0.0s] */

    PS_flc3_controlA0513_B->IW111_n[0] =
      PS_flc3_controlA0513_P->IW111_Value_b[0];
    PS_flc3_controlA0513_B->IW111_n[1] =
      PS_flc3_controlA0513_P->IW111_Value_b[1];

    PS_flc3_controlA0513_B->IW112_i[0] =
      PS_flc3_controlA0513_P->IW112_Value_j[0];
    PS_flc3_controlA0513_B->IW112_i[1] =
      PS_flc3_controlA0513_P->IW112_Value_j[1];

    PS_flc3_controlA0513_B->IW113_b[0] =
      PS_flc3_controlA0513_P->IW113_Value_a[0];
    PS_flc3_controlA0513_B->IW113_b[1] =
      PS_flc3_controlA0513_P->IW113_Value_a[1];

    PS_flc3_controlA0513_B->IW114_e[0] =
      PS_flc3_controlA0513_P->IW114_Value_b[0];
    PS_flc3_controlA0513_B->IW114_e[1] =
      PS_flc3_controlA0513_P->IW114_Value_b[1];

    PS_flc3_controlA0513_B->IW115_h[0] =
      PS_flc3_controlA0513_P->IW115_Value_h[0];
    PS_flc3_controlA0513_B->IW115_h[1] =
      PS_flc3_controlA0513_P->IW115_Value_h[1];
  }

  PS_flc3_controlA0513_B->SE1_p = PS_flc3_controlA0513_B->Sum3 *
    PS_flc3_controlA0513_P->SE1_Gain_n;